behrobot humanoid adult size team - robocup humanoid · behrobot humanoid adult size team ......

9
BehRobot Humanoid Adult Size Team Team Description Paper 2014 Mohammadreza Mohades Kasaei, Mohsen Taheri, Mohammad Rahimi, Ali Ahmadi, Ehsan Shahri, Saman Saraf, Yousof Geramiannejad , Majid Delshad, Farsad Zamani Institute of Robotics and Intelligent Systems, Isfahan Islamic Azad University, Isfahan, Iran http://www.humanoids.ir/ Abstract. This technical description explains Behrobot adult size robot specifi- cation that have designed and customized to participate in Robocup 2014 Hu- manoid league for Adult size competition in Brazil 2014. This paper describes scientific aspects of our robot including mechanical improvements, Electrical design and software modifications. It also covers a summery of Behrobot achievements and performance in robocup competitions. 1 Introduction Robocup is a world project to progress artificial intelligence and related sciences like mechanical engineering, software and electrical engineering. One of the most im- portant robocup leagues is Humanoid league which in robots with human anatomy similarity and walking skills should play soccer match. Humanoid robot soccer league includes 3 sub leagues: Kid, Teen and Adult. During 10 years robocup activity, we have built all of three sizes and finally we shifted to adult size. The goal of robocup is to prepare a team of humanoid robots to compete with humans on 2050. Our adult size robot is designed to move to this aim. This project has started from September 2010 with cooperative of best researchers of Institute of Robotics and Intelligent Sys- tems (Figure1). This paper also describes some scientific contribution in modified mechanical design, motion control, image processing, localization and path planning. Fig. 1. Behrobot adult size humanoid robot, champion of Iranopen 2013

Upload: lamhuong

Post on 21-Aug-2018

221 views

Category:

Documents


0 download

TRANSCRIPT

Page 1: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

BehRobot Humanoid Adult Size Team

Team Description Paper 2014

Mohammadreza Mohades Kasaei, Mohsen Taheri, Mohammad Rahimi, Ali Ahmadi,

Ehsan Shahri, Saman Saraf, Yousof Geramiannejad , Majid Delshad, Farsad Zamani

Institute of Robotics and Intelligent Systems, Isfahan Islamic Azad University, Isfahan, Iran

http://www.humanoids.ir/

Abstract. This technical description explains Behrobot adult size robot specifi-

cation that have designed and customized to participate in Robocup 2014 Hu-

manoid league for Adult size competition in Brazil 2014. This paper describes

scientific aspects of our robot including mechanical improvements, Electrical

design and software modifications. It also covers a summery of Behrobot

achievements and performance in robocup competitions.

1 Introduction

Robocup is a world project to progress artificial intelligence and related sciences like

mechanical engineering, software and electrical engineering. One of the most im-

portant robocup leagues is Humanoid league which in robots with human anatomy

similarity and walking skills should play soccer match. Humanoid robot soccer league

includes 3 sub leagues: Kid, Teen and Adult. During 10 years robocup activity, we

have built all of three sizes and finally we shifted to adult size. The goal of robocup is

to prepare a team of humanoid robots to compete with humans on 2050. Our adult

size robot is designed to move to this aim. This project has started from September

2010 with cooperative of best researchers of Institute of Robotics and Intelligent Sys-

tems (Figure1). This paper also describes some scientific contribution in modified

mechanical design, motion control, image processing, localization and path planning.

Fig. 1. Behrobot adult size humanoid robot, champion of Iranopen 2013

Page 2: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

2 System & Control Overview

This section describes system structure and method of data transfer among different

parts of robot. The robot consists of mechanical and electrical equipment like com-

puter, electrical boards, sensors, camera, batteries and main body. Firstly, a camera as

a main sensor sends field information as an image to main computer board and then

these signals are captured. The main computer uses buffer memory and gets required

information and detects objects position. Also we use an improved method for locali-

zation using particle filter and matching optimization that has more advantages in

comparison with other previous methods that is used in humanoid soccer competition.

Secondly, the role engine and behavior engine select strategy and another move. The

commands are received by other CPU via RS232 and the moving commands are sent

to all AX and MX servo motors in legs, hands, head and trunk via RS485. Then each

servo motor with specific ID number receives commands and adjusts angle modifica-

tion. All servo motors are daisy-chained and on a single bus. Figure 2 shows general

schema of connections in software and hardware parts. [1-4]

Fig. 2. System Overview of Behrobot humanoid robot

To enable a robot to play soccer match, we have implemented some skills including:

walking autonomously, running and kicking. In order to have a robot which can rec-

ognize its environment correctly, we have used a digital 1.3 mega pixel camera

Page 3: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

(Logitech C905), IMU sensor. Also for processing and preparing acquired infor-

mation for intelligent unit execution, decision part and control we have used a small

industrial computer (LP-180) with Windows XP operating system. Electronic part

uses an equipped electronic circuit board to control servo motors which includes

ARM LPC 2368 microcontroller for reading and transferring data to main computer

via serial RS232 connection. The base of control is based on ZMP and inverse kine-

matics model of the leg. Also IMU that is embedded on the robot' hip provides angles

of rotation in three dimensions about the robot's center of mass (roll, pitch and yaw).

Roll and pitch is used to control and yaw is used to blind motion. (Figure3) [1-5]

Fig. 3. Control Overview of Behrobot humanoid robot

3 Hardware

3.1 Mechanical structure

Mechanical structure is composed of aluminum alloy parts, 8 RX64 and 10 EX106

Dynamixel motors. Our robot is 155 centimeter tall and 12 kilogram weight. The

robot includes more than 200 different parts including legs, trunk, arms and other

joints. One of the robot main improvements is implementation of dual motor joints

and parallel links of the legs that makes our robot to be more stable and to have better

ability to walk and stronger kick. Also new design for hands is implemented to facili-

tate throw in challenge. (Figure4) (Table1)

Page 4: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

Table 1. Behrobot specification

Mechanical Structure

Number of DOF Type of motors

Head Neck 2 Dynamixel AX12

Trunk Waist 1 Dynamixel 2*EX106

Legs

Hip 1 (X2) Dynamixel 2*RX64

Thigh 2 (X2) Dynamixel 2*RX64

Knee 1 (X2) Dynamixel 2*MX106

Ankle 2 (X2) Dynamixel 2*MX106

Arms

Upper Arm 1 (X2) Dynamixel RX64

Shoulder 1 (X2) Dynamixel RX64

Elbow 1 (X2) Dynamixel RX64

Total 21

Electronic System

Sensors

Camera Logitech (1.3 MegaPixel)

IMU X-IO

Processor PC104-LP170 1.6GHz , 2GB RAM

Fig. 4. Hardware parts of Behrobot 2014

3.2 Electrical Structure

We have designed a servo motor driver to control motors via RS485. This driver uses

ARM LPC2368 microcontroller and reads accelerator and gyroscope data through

A/D converter and transfers information to the robot processor. Also ADXL330 ac-

celerator sensor is used to robot fall detection. LIPO battery 18.5 Volt 4350 mA is

Special Hands Dual Joint Servo motors

IMU

Camera

Battery

LP170

Page 5: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

used and is adjusted using some LT regulators before distribution to other electronical

parts.

4 Software

Software structure handles many modules including Vision, AI and Hardware man-

agement. Vision is the main software section that consists of capture frame, segmen-

tation as a pre-processing part, object detection, verification and localization. Another

part is AI that consists of a decision tree, path planning and strategy engine. When

there is a team-mate in the field, Strategy engine includes role and behavior engine.

And finally in the hardware management part, motion control, battery checking, IMU

and motors can be handled. (Figure5)

Fig. 5. Software structure including sub-modules

4.1 Image processing

Using a fish eye lens, camera gets RGB images with 640*480 resolution with 15 fps

and when the ball is near to the robot, processor decreases resolution to 360*240 to

keep quality and high speed simultaneously. The vision system process images and

uses a color look-up table. In the high level computer vision, we use K-MEANS clus-

tering method and field line detection to have better image processing, localization

and behavior decision. After capturing a frame, processor does pre-process image by

segmentation using color table and k-mean clustering method. Then processor exe-

cutes BFS object detection and verification algorithm. K-MEANS clustering method

enables operator to add colors easily just by a few clicks before the game.(Figure6)

[8, 9]

Page 6: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

Fig. 6. The robot's image processing to detect ball, goal and field lines

4.2 Localization

The robot uses particle filtering for reliable localization. The robot uses IMU sensor,

goal posts , field lines and center circle as a basic elements to localization and then

particle filter is used to track x,y and Ө and also to solve kidnapping problem. Also

Motion and vision model is used to update particles. Finally we use a method named

matching optimization, and it helps robots to play even in larger field with variable

light conditions during a game. In next years the humanoid league moves to larger

field that is similar to actual soccer field at last on 2050. So the stable localization is

essential to compete in future. (Figure7) [6,7]

Fig. 7. The particle filter simulation. Magenta circle: The initial and destination position of the

simulated robot. Blue line: ground truth trajectory. Yellow line: odometry readings or reloca-

tion of the robot based on the sensor readings of the joint positions. Red line: estimated pose by

particle filtering and matching optimization

4.3 Path planning

Potential field is used to have reliable and smooth path planning. In this method 3

main parameters are essential including 1- distance 2- angle 3- volume of obstacle.

Also our algorithm can easily solves trapped situation in a local minimum using virtu-

al forces. (Figure8) [10, 11]

Page 7: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

Fig. 8. The results of some sample path planning simulations

5 Awards

In 2004 we started our first robocup experience by participating in Middle size league in Ger-

many, China and Iran and we continued with kid size humanoid robots. During 10 years ro-

bocup competitions not only we won many awards but also we shifted from kid size humanoid

robot to teen and adult size humanoid robots. Figure 9 shows our successful efforts to design

and implementation of new robots.

Fig. 9. The Iranopen International Robocup Competition 2012, 2013. 6 awards in all 3 sizes

Our main achievements in robocup:

- Ranked 1st Place Adult Size Humanoid League in 8th International Iran-

Open Robocup competitions in Iran-Tehran, April 2013.

- Ranked 1st Place Teen Size Humanoid League Technical challenge in 8th

International Iran-Open Robocup competitions in Iran-Tehran, April 2013.

- Ranked 1st Place Teen Size Humanoid League in 7th International Iran-

Open Robocup competitions in Iran-Tehran, April 2012.

Page 8: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

- Ranked 1st Place Teen Size Humanoid League Technical challenge in 7th

International Iran-Open Robocup competitions in Iran-Tehran, April 2012.

- Ranked 3th Place Kid Size Humanoid League in 7th International Iran-Open

Robocup competitions in Iran-Tehran, April 2012.

- Ranked 1st Place Kid Size Humanoid League Technical challenge in 7th In-

ternational Iran-Open Robocup competitions in Iran-Tehran, April 2012.

- Ranked 3th place Humanoid Soccer Robot League (Kid Size) in 5rd Interna-

tional Iran-Open Robocup competitions in Iran-Tehran, April 2010.

- Ranked 1st place Humanoid Kid-Size Soccer Robot League in 1st National

Khwarizmi Robotic Competitions in Iran-Tehran, November 2008.

- Ranked 2nd place Middle Size Soccer Robot League in 1st National

Khwarizmi Robotic Competitions in Iran-Qazvin, November 2008.

- Ranked 1st Place Middle Size Soccer Robot League in 3rd International

Iran-Open Robocup competitions in Iran-Qazvin, April 2008.

- Ranked 2nd place Middle Size Soccer Robot League in 2nd International

Iran-Open Robocup Competitions in Iran-Tehran, April 2007.

- Ranked 2nd place in Middle size league in 2nd International China-Open

Robocup Competitions in China 2007.

5 Conclusion

In this paper the scientific contribution of Behrobot adult size is described. Also some

new methods are introduced to have an efficient soccer robot based on previous ex-

priences in humanoid robot comptetion in kid and teen size. Behrobot humanoid robot

not only uses reliable software and hardware structure but also is in improvement

process to have a faster walking speed to be able to compete in world robocup 2014 in

Brazil.

Team Referee: Mohsen Taheri

Reference

1- Andreas Schmitz, Marcell Missura, and Sven Behnke "Real-Time Trajectory Gen-

eration by Offline Footstep Planning for a Humanoid Soccer Robot" In Proceedings

of the 15th RoboCup International Symposium, Istanbul, July 2011.

2- Ehsan Azimi, Mostafa Ghobadi, "Three-Dimensional Smooth Trajectory Planning

Using Realistic Simulation" In Proceedings of RoboCup 2004, Robot Soccer World

Cup VIII Lecture Notes in Computer Science Volume 3276, 2005, pp 381-393.

3- MARTIN FRIEDMANN, JUTTA KIENER, "Versatile, High-quality Motions and

Behavior Control of a Humanoid Soccer Robot" In proceedings of International Jour-

nal of Humanoid Robotics, Volume 5, Issue 3, Sep 2008,Pages 417-436.

Page 9: BehRobot Humanoid Adult Size Team - RoboCup Humanoid · BehRobot Humanoid Adult Size Team ... Robocup is a world project to progress artificial intelligence and related sciences

4- D. Scholz, M. Friedmann, O. von Stryk "Fast, Robust and Versatile Humanoid

Robot Locomotion with Minimal Sensor Input" In Proc. 4th Workshop on Humanoid

Soccer Robots at the 2009 IEEE-RAS Int. Conf. on Humanoid Robots, pp. to appear,

Dec. 7 - Dec. 10, 2009.

5- Sven Behnke and Jörg Stückler: "Hierarchical Reactive Control for Humanoid

Soccer Robots" International Journal of Humanoid Robots (IJHR), vol. 5, no. 3, pp.

375-396, September 2008

6- Hannes Schulz, Weichao Liu, Jörg Stückler and Sven Behnke: Utilizing the Struc-

ture of Field Lines for Efficient Soccer Robot Localization In Proceedings of 14th

International RoboCup Symposium, Singapore, June 2010.

7- Huimin Lu, Xun Li, Hui Zhang, Mei Hu and Zhiqiang Zheng, "Robust and real-

time self-localization based on omnidirectional vision for soccer robots" Advanced

Robotics, 2013Vol. 27, No. 10, 799–811.

8- Liu F, Lu H, Zheng Z. "A modified color look-up table segmentation method for

robot soccer". In: Proceedings of the 4th IEEE LARS/COMRob 07; 2007; Monterrey,

Mexico.

9- Lu H, Zhang H, Yang S, Zheng Z. "Camera parameters auto-adjusting technique

for robust robot vision" In: Proceedings of the 2010 IEEE International Conference on

Robotics and Automation; 2010; Anchorage, Alaska, USA. p. 1518–1523.

10- B. Zhang, W. Chen and M. Fei, “An Optimized Method for Path Planning Based

on Artificial Potential Field”, Proceedings of the Sixth International Conference on

Intelligent System Design and Applications (ISDA2006), pp.226-231, 2006.

11- Z. Yu, J. Yan, J. Zhao, Z. Chen and Y. Zhu, “Mobile Robot Path Planning Based

on Improved Artificial Potential Field”, Journal of Harbin Institute of Technology,

Vol.43, No.1, pp.50-55, 2011.